[1] Cleveland Clin, Dept Biomed Engn, Lerner Res Inst, Cleveland, OH USA
[2] Vet Affairs Med Ctr, Adv Platform Technol Ctr, Louis Stokes Cleveland Dept, Cleveland, OH USA
[3] Sorbonne Univ, Phys Med & Rehabil Dept, Rothschild Hosp, Paris, France
[4] Univ Bern, ARTORG Ctr Biomed Engn Res, Bern, Switzerland
[5] Univ Bern, Bern Univ Hosp, Dept Urol, Inselspital, Bern, Switzerland
[6] Norfolk & Norwich Univ Hosp, Dept UroGynaecol, Norwich, England
[7] Cleveland Clin, Dept Biomed Engn, Lerner Res Inst, 9500 Euclid Ave ND20, Cleveland, OH 44118 USA